ESC Firmware

This is a brushless DC motor controller based on the STM32F407VG. It runs on ChibiOS.

Compile for STM32F4 target

• make

Flash to STM32F4 target

• make flash or make f

Running cross-compiled tests

• make test or make t

Debugging

• Launch the gdb server with st-util or make gdb-server
• Launch gdb using gdb-multiarch
  • file build/esc.elf to load symbols
  • target extended-remote :4242
  • or, do all the above with make gdb
• do debugging stuff

Timers

• Timer 1 - used for PWM1
• Timer 2 - used to trigger ADCs
• Timer 4 - used to track motor rotor position